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? Doctor Thesis (1996)
? ¡°Ultrasonic Transmission Tomography Using Ray Interval Correction

Based on Echo Profiles¡±
Precision Machinery Engineering Dept., Dohi Laboratory

Ray Interval Correction
on Echo Profile

Agar phantom
Complete projections Limited and partial
Porcine kidney

Ultrasonic Limited-Angle
Partial Projections
(No GPS...)
Sensors: strap-down inertial unit (accelerometers
& gyros), electronic compass & odometry
Actual trajectory
Trajet¨®ria Real x Estimada

Trajet¨®ria Real x Estimada
200

3000

2000

Real
Estimada
Ponto de partida
Ckeckpoints

Real
Estimada
Ponto de partida
Ckeckpoints

100
0
-100
coordenada y (m)

coordenada y (m)

1000

0

-200
-300
-400

-1000
-500
-600

-2000
regi?o ampliada

-700

-3000
-1200 -1000 -800

-600

-400 -200
0
200
coordenada x (m)

400

600

800

Reconstruction without sensor fusion

-800
-600

-500

-400

-300

-200
-100
0
coordenada x (m)

100

200

300

400

Reconstruction with sensor fusion
? Corrosion assessment on

pipeline internal walls
? Problems:

? noise
? multiple echo overlap
? lateral reflections

Phase-shift encoded pulse signal

Dispersion and lateral reflections of ultrasonic signals on
corroded pipeline wall

Received echo signal

Processed Echo signal
Arduino MEGA 256

E-puck Robot

Lasersaur cutter

RepRap 3D printer

Elphel Camera

Computer Systems, Cameras, Amateur Radio, Audio and Music,
Telephony, Machine and Tools, Robotics, ...
http://en.wikipedia.org/wiki/List_of_open-source_hardware_projects
? Arduino and shield boards for 3D printer
? 3D printer

? Joint work with Faculty of Dentistry, USP

Use of 3D printer on dental filling training
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Embedded Systems & Open Source Mechatronics

  • 1. ? Doctor Thesis (1996) ? ¡°Ultrasonic Transmission Tomography Using Ray Interval Correction Based on Echo Profiles¡± Precision Machinery Engineering Dept., Dohi Laboratory Ray Interval Correction on Echo Profile Agar phantom Complete projections Limited and partial Porcine kidney Ultrasonic Limited-Angle Partial Projections
  • 2. (No GPS...) Sensors: strap-down inertial unit (accelerometers & gyros), electronic compass & odometry Actual trajectory Trajet¨®ria Real x Estimada Trajet¨®ria Real x Estimada 200 3000 2000 Real Estimada Ponto de partida Ckeckpoints Real Estimada Ponto de partida Ckeckpoints 100 0 -100 coordenada y (m) coordenada y (m) 1000 0 -200 -300 -400 -1000 -500 -600 -2000 regi?o ampliada -700 -3000 -1200 -1000 -800 -600 -400 -200 0 200 coordenada x (m) 400 600 800 Reconstruction without sensor fusion -800 -600 -500 -400 -300 -200 -100 0 coordenada x (m) 100 200 300 400 Reconstruction with sensor fusion
  • 3. ? Corrosion assessment on pipeline internal walls ? Problems: ? noise ? multiple echo overlap ? lateral reflections Phase-shift encoded pulse signal Dispersion and lateral reflections of ultrasonic signals on corroded pipeline wall Received echo signal Processed Echo signal
  • 4. Arduino MEGA 256 E-puck Robot Lasersaur cutter RepRap 3D printer Elphel Camera Computer Systems, Cameras, Amateur Radio, Audio and Music, Telephony, Machine and Tools, Robotics, ... http://en.wikipedia.org/wiki/List_of_open-source_hardware_projects
  • 5. ? Arduino and shield boards for 3D printer ? 3D printer ? Joint work with Faculty of Dentistry, USP Use of 3D printer on dental filling training